Vehicle having a laterally adjustable chassis and methods of servicing such a vehicle

ABSTRACT

A vehicle includes a chassis, ground-engaging elements configured to support the chassis, support assemblies supporting the chassis on the ground-engaging elements, adjustable axles configured to change a lateral distance from the chassis to each of the support assemblies, and a controller configured to move the chassis laterally along the axles without changing a track width between ground-engaging elements on opposing sides of the chassis. Disclosed methods may be used to remove and install application systems on the vehicle.

CROSS REFERENCE TO RELATED APPLICATION

This application claims the benefit of the filing date of U. S.Provisional Pat. Application 63/260,110, “Vehicle Having a LaterallyAdjustable Chassis and Methods of Servicing Such a Vehicle,” filed Aug.10, 2021, the entire disclosure of which is incorporated herein byreference.

FIELD

Embodiments of the present disclosure relate to mobile machines, such asself-propelled agricultural machines and similar vehicles. Moreparticularly, embodiments relate to mobile machines with an adjustabletrack width.

BACKGROUND

Some vehicles are configured to be operated in fields among row crops.Application machines such as self-propelled sprayers, for example, mayhave wheels configured to pass between crop rows and a spray boom thatextends outwardly from the vehicle to spray the crop as the machinetravels through the field. To avoid damaging the crops as the vehiclemoves through the field, each of the wheels must have the proper widthto travel between the rows, and the track width-the lateral distancebetween the wheels-must match row spacing so that the wheels areproperly positioned between crop rows. Furthermore, the vehicle shouldhave sufficient ground clearance (the distance between the vehicle bodyand the surface over which it moves) to clear the crops.

U.S. Pat. 9,180,747, “System and Method of Adjusting the Chassis Heightof a Machine,” granted Nov. 10, 2015, discloses a self-propelled sprayerhaving a chassis-height adjustment system wherein four wheel supportassemblies are configured to selectively raise and lower the chassisrelative to the ground surface by actuators. Adjustment of the chassisheight in such known systems is commanded by an operator through userinterface elements. The operator may thus raise and lower the chassis asrequired. For example, during filling, on the highway, or in crop fieldswith short crops, a low ground clearance may be selected. Conversely,for operating in taller crops, a higher ground clearance may beselected. In general, during operation in crop fields, selecting thelowest possible chassis height that avoids damaging the crop canopy isdesirable to maintain the center of mass as low as possible forstability.

Self-propelled sprayers that can have the application systems changedfor different seasons or different types of application require theoperator to use a crane, hoist, forklift, or other lifting device tomaneuver the application system on and off the sprayer chassis.Furthermore, depending on the configuration of the lifting device, theoperator may need to carefully align the vehicle with the liftingdevice. The process can be time-consuming if the operator does not havethe appropriate equipment and/or workers needed for this task. It isalso cumbersome to move the application systems (e.g., with a forklift)because they are large and heavy.

BRIEF SUMMARY

In some embodiments, a method of servicing a vehicle is disclosed. Thevehicle includes a chassis, a plurality of ground-engaging elementsconfigured to support the chassis above a ground surface, and aplurality of support assemblies supporting the chassis on theground-engaging elements. The method includes laterally translating thechassis relative to the support assemblies without changing a trackwidth of the ground-engaging elements.

In another embodiment, a method of servicing a vehicle is disclosed. Thevehicle includes a chassis, a plurality of ground-engaging elementsconfigured to support the chassis above a ground surface, and aplurality of height-adjustable support assemblies supporting the chassison the ground-engaging elements. The method includes supporting a firstapplication system with a first fixed support, retracting the supportassemblies to lower the chassis, moving the chassis from a positionunder the first application system to another position under a secondapplication system supported by a second fixed support, extending thesupport assemblies to raise the chassis into contact with the secondapplication system, securing the second application system to thechassis, and releasing the second application system from the secondfixed support.

In one embodiment, a vehicle includes a chassis, a plurality ofground-engaging elements configured to support the chassis above aground surface, a plurality of support assemblies supporting the chassison the ground-engaging elements, a plurality of adjustable axlesconfigured to change a lateral distance from the chassis to each of thesupport assemblies, and a controller configured to move the chassislaterally along the axles without changing a track width betweenground-engaging elements on opposing sides of the chassis.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims particularly pointing outand distinctly claiming what are regarded as embodiments of the presentdisclosure, various features and advantages may be more readilyascertained from the following description of example embodiments whenread in conjunction with the accompanying drawings, in which:

FIG. 1 is a perspective view of an agricultural applicator constructedand operable in accordance with principles disclosed herein;

FIG. 2 illustrates certain features of a cabin of the applicator of FIG.1 including one or more user interface elements allowing a user tocontrol the applicator;

FIG. 3 is a perspective view of the agricultural applicator of FIG. 1with two of the wheels omitted to more fully illustrate supportassemblies interposed between the wheels and the chassis;

FIG. 4A, FIG. 4B, and FIG. 4C are block diagrams of various exemplaryembodiments of control systems of the applicator of FIG. 1 ;

FIG. 5 is an outside perspective view of one of the support assembliesof the applicator of FIG. 3 ;

FIG. 6 is an inside perspective view of the support assembly of FIG. 5 ;

FIG. 7 illustrates the support assembly of FIG. 5 pivoted to a firstposition relative to an axle of the applicator;

FIG. 8 illustrates the support assembly of FIG. 5 pivoted to a secondposition relative to the axle;

FIG. 9 illustrates the support assembly of FIG. 5 in a first operatingposition;

FIG. 10 illustrates the support assembly of FIG. 5 in a second operatingposition;

FIG. 11 is a simplified perspective view of the applicator shown in FIG.1 , with the application system supported by a fixed support;

FIG. 12 is a simplified perspective view of the applicator shown in FIG.1 , with another application system supported by a fixed support;

FIG. 13 is a simplified flow chart illustrating a method of servicing anagricultural vehicle, such as the applicator shown in FIG. 1 ; and

FIG. 14 illustrates an example computer-readable storage mediumcomprising processor-executable instructions configured to embody one ormore of the methods of operating vehicle, such as the method illustratedin FIG. 13 .

DETAILED DESCRIPTION

The illustrations presented herein are not actual views of any vehicleor portion thereof, but are merely idealized representations to describeexample embodiments of the present disclosure. Additionally, elementscommon between figures may retain the same numerical designation.

The following description provides specific details of embodiments.However, a person of ordinary skill in the art will understand that theembodiments of the disclosure may be practiced without employing manysuch specific details. Indeed, the embodiments of the disclosure may bepracticed in conjunction with conventional techniques employed in theindustry. In addition, the description provided below does not includeall elements to form a complete structure or assembly. Only thoseprocess acts and structures necessary to understand the embodiments ofthe disclosure are described in detail below. Additional conventionalacts and structures may be used. The drawings accompanying theapplication are for illustrative purposes only, and are thus not drawnto scale.

As used herein, the terms “comprising,” “including,” “containing,”“characterized by,” and grammatical equivalents thereof are inclusive oropen-ended terms that do not exclude additional, unrecited elements ormethod steps, but also include the more restrictive terms “consistingof” and “consisting essentially of” and grammatical equivalents thereof.

As used herein, the term “may” with respect to a material, structure,feature, or method act indicates that such is contemplated for use inimplementation of an embodiment of the disclosure, and such term is usedin preference to the more restrictive term “is” so as to avoid anyimplication that other, compatible materials, structures, features, andmethods usable in combination therewith should or must be excluded.

As used herein, the term “configured” refers to a size, shape, materialcomposition, and arrangement of one or more of at least one structureand at least one apparatus facilitating operation of one or more of thestructure and the apparatus in a predetermined way.

As used herein, the singular forms following “a,” “an,” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise.

As used herein, the term “and/or” includes any and all combinations ofone or more of the associated listed items.

As used herein, spatially relative terms, such as "beneath," "below,""lower," "bottom," "above," "upper," "top," "front," "rear," "left,""right," and the like, may be used for ease of description to describeone element’s or feature’s relationship to another element(s) orfeature(s) as illustrated in the figures. Unless otherwise specified,the spatially relative terms are intended to encompass differentorientations of the materials in addition to the orientation depicted inthe figures.

As used herein, the term “substantially” in reference to a givenparameter, property, or condition means and includes to a degree thatone of ordinary skill in the art would understand that the givenparameter, property, or condition is met with a degree of variance, suchas within acceptable manufacturing tolerances. By way of example,depending on the particular parameter, property, or condition that issubstantially met, the parameter, property, or condition may be at least90.0% met, at least 95.0% met, at least 99.0% met, or even at least99.9% met.

As used herein, the term “about” used in reference to a given parameteris inclusive of the stated value and has the meaning dictated by thecontext (e.g., it includes the degree of error associated withmeasurement of the given parameter).

FIG. 1 illustrates a vehicle 102 having an adjustable track width andchassis height. In particular, the vehicle 102 is pictured as anagricultural material applicator including a chassis 104, an applicationsystem 106, a plurality of wheels 108 or other ground-engaging elementssupporting the chassis 104 above a ground surface, an operator cabin110, and an engine compartment 112. A plurality of support assemblies114 interposed between the wheels 108 and the chassis 104 support thechassis 104 on the wheels 108 and provide suspension, height adjustment,and/or steering functions, as discussed in greater detail below.

Certain components of the vehicle 102 have been omitted from the figuresfor simplicity of illustration and to show certain features of thevehicle 102 that would otherwise be concealed. The engine, for example,has been omitted to illustrate components of the vehicle frame,including portions of the front axle 116. Certain hydraulic lines, suchas hydraulic lines running to and from the support assemblies 114, arealso omitted. The vehicle 102 is illustrated and discussed herein as anexemplary machine with which the support assemblies 114 may be used. Itwill be appreciated by those skilled in the art that such supportassemblies 114 may be used with other machines including other types ofapplicators or other vehicles or mobile machines that would benefit fromthe advantages disclosed herein, such as chassis height adjustment,independent suspension, track width adjustment, and independent wheelcontrol.

The vehicle 102 includes a pair of front wheels 108 and a pair of rearwheels 108 (one rear wheel 108 hidden from view) of the appropriate sizeand shape to allow the vehicle 102 to travel among row crops withminimal crop disturbance. A used herein, a “wheel” includes an inner,rigid wheel and an outer, flexible tire mounted on the inner wheel,unless otherwise specified. Each wheel 108 may exhibit, for example, anouter diameter of between 60 inches (152 cm) and 85 inches (216 cm) anda width of between 10 inches (25.3 cm) and 25 inches (63.5 cm). Morespecifically, wheels 108 designed for use with row crops may exhibit anouter diameter of about 70 inches (178 cm) or about 80 inches (203 cm)and a width of about 15 inches (38.1 cm). Alternatively, the wheels 108may exhibit a width of up to 25 inches (63.5 cm) (or more) forpre-emergent applications, for use on soft terrain, or both to maximizeflotation and minimize soil compaction. Each of the wheels 108 may weighbetween 600 pounds (272 kg) and 1,000 pounds (454 kg) and mayspecifically weigh about 700 pounds (318 kg) or about 800 pounds (363kg). In one exemplary embodiment, each of the wheels 108 is about 70inches (178 cm) tall, about 15 inches (38.1 cm) wide, and weighs about700 pounds (318 kg).

The particular size, shape, and configuration of the wheels 108 may varysubstantially from one embodiment to another. In some embodiments, thevehicle 102 may include ground-engaging elements other than wheels, suchas tracks, skis, etc. Hereinafter, reference will be made to a “wheel108” or “wheels 108” with the understanding that the illustrated wheels108 may be replaced with other types of ground-engaging elements.

The application system 106 is supported on the chassis 104 and may beuseful for distributing liquids or solids. In the illustratedembodiment, the application system 106 includes a liquid holding tank120 and a delivery system 122 for applying a liquid from the liquidholding tank 120 to a crop or field. The liquid holding tank 120 mayhave a capacity of between 200 gallons (757 I) and 2,000 gallons (7,570I) and, more specifically, may have a capacity of 700 gallons (2,650 I),900 gallons (3,410 I), 1,100 gallons (4,160 I), or 1,300 gallons (4,920I). The delivery system 122 includes a laterally extending applicatorboom 124 supporting hoses, pumps, and spray nozzles or similarcomponents for dispersing or otherwise delivering the contents of theliquid holding tank 120 to a crop. Alternatively, the application system106 may be configured to apply dry (i.e., solid) particulate material toa field and therefore may include a solid product hopper and a solidmaterial spreader for dispersing particulate material from the solidproduct hopper, such as a pneumatic spreader or one or more spinners.

The operator cabin 110 or “cab” is supported on the chassis 104 andpositioned forward of the application system 106. The operator cabin 110presents a control environment 202, illustrated in FIG. 2 , which mayinclude a steering wheel 204, one or more pedals 206, a drive lever 208,one or more electronic instrument panels 210, and a control panel 212including buttons, switches, levers, gauges, and/or other user interfaceelements. The various components of the control environment 202 enablethe operator to control the functions of the vehicle 102, includingdriving and operating the application system 106. The various userinterface elements are positioned around and proximate a seat 214 foreasy access by an operator during operation of the vehicle 102. Thecontrol environment 202 may include a touchscreen display. One or bothof the electronic instrument panels 210, for example, may be or includea touchscreen, or a display terminal with a touchscreen may be mountedon or near the control panel 212.

FIG. 3 illustrates the vehicle 102 with two of the wheels 108 removed tobetter illustrate the support assemblies 114 and their connection to thechassis 104. One or more drive motors 302 may be associated with thewheels 108 for driving rotation of the wheels 108 relative to thechassis 104 to propel the vehicle 102 in forward and reverse directions.In the illustrated embodiment, a separate hydraulic drive motor 302 isdrivingly connected to each wheel 108 such that each of the wheels 108may be driven independently to propel the vehicle 102. Either two or allfour of the wheels 108 may be steerable. In some embodiments, thesteering functionality of some of the wheels 108 may be selectivelyenabled and disabled. By way of example, the front wheels 108 may alwaysbe steerable, and supplemental steering provided by the rear wheels 108may be selectively enabled and disabled. An operator may control thedrive motors 302 and steering functions of the wheels 108, includingenabling and disabling the steering ability of certain of the wheels108, from one or more user interface elements of the control environment202, illustrated in FIG. 2 .

The vehicle 102 may include mechanisms for adjusting the track width ofthe wheels 108 to accommodate, for example, different spacing needs forrow crops. In the illustrated embodiment, the vehicle 102 includestelescoping axles with an outer axle 304 and an inner axle 306associated with each wheel 108, wherein the inner axle 306 slidinglyengages the outer axle 304 and allows the associated wheel 108 to shiftlaterally relative to the chassis 104. A hydraulic piston or similaractuator may drive the inner axle 306 inward and outward to shift theposition of the wheel 108. The inner axles 306 and outer axles 304 formpart of the chassis 104 and, in the illustrated embodiment, the outeraxles 304 are rigidly connected to another portion of the chassis 104,such as one or more frame elements. U.S. Pat. Application Publication2020/0130741, “Mounting Assembly for a Steerable Wheel with VariableTrack Width,” published Apr. 30, 2020, discloses an example of atelescopic axle with an actuator disposed inside the outer axle andarranged to drive the inner axle inward and outward to shift the lateralposition of the associated support assembly and wheel.

As mentioned above, the vehicle 102 includes a support assembly 114interposed between each of the wheels 108 and the chassis 104. Eachsupport assembly 114 connects to a hub 118 of one of the wheels 108 andto one of the inner axles 306 such that the wheel 108 and the supportassembly 114 shift laterally as a single unit relative to the chassis104 when the inner axle 306 is shifted relative to the outer axle 304 toadjust the track width of the vehicle 102. The support assemblies 114may optionally include height-adjustment components for raising andlowering the chassis 104 between various operating positions. One ormore of the support assemblies 114 (or portions thereof) may beselectively pivotable relative to the chassis 104 to steer the vehicle102.

Each of the support assemblies 114 may include one or more actuators foradjusting a height of the chassis 104, for steering the associated wheel108, or both. In some embodiments, the actuators are hydraulic actuatorssuch as linear or rotary hydraulic actuators. FIG. 4A illustrates anexemplary hydraulic control system 402 for operating hydraulic actuators404, in which a common fluid source, such as centralized hydraulic pump406 driven by an internal combustion engine 408 or another power source,communicates pressurized hydraulic fluid to a hydraulic controller 410that regulates fluid flow between the hydraulic pump 406 and thehydraulic actuators 404 associated with the support assemblies 114 (FIG.1 ) via a plurality of hydraulic transfer lines 412. The hydrauliccontroller 410 may include, for example, a hydraulic manifold or similardevice.

Each of the hydraulic transfer lines 412 communicates hydraulic powerbetween the hydraulic controller 410 and one or more hydraulic actuators404 and, thus, may include one or more hydraulic pressure lines and oneor more hydraulic return lines. Each of the hydraulic transfer lines 412may communicate hydraulic power to more than one actuator 404, and eachof the actuators 404 may include a group of actuators associated witheach wheel 108 and/or support assembly 114. By way of example, a firstactuator 404 may drive steering of a wheel 108, a second actuator 404may drive rotation of the wheel 108, and a third actuator 404 may adjusta height of the chassis 104. It will be appreciated that the actuators404 are exemplary in nature and that the various actuators 404 may notbe grouped as described herein.

The hydraulic control system 402 includes a control interface 414 incommunication with the hydraulic controller 410. The control interface414 may be part of a user interface that includes one or more physicalor virtual user interface elements 416, such as buttons, switches, ordials, and may be part of the control environment 202 (FIG. 2 ).

Various different types of technology may be used to actuate the supportassemblies 114. Though the actuators 404 are illustrated and describedherein as hydraulic actuators, it will be understood that other types ofactuators may be used in place of, or in connection with, the hydraulicactuators 404. By way of example, electro-mechanical actuators may beused in place of at least some of the hydraulic actuators 404illustrated and discussed herein.

FIG. 4B illustrates another exemplary control system 418 similar to thehydraulic control system 402, but that includes a computerizedcontroller 420 with a control module 422 for controlling the hydrauliccontroller 410. The control system 418 may also include a wirelessinterface element 424 in wireless communication with the hydrauliccontroller 410 to enable a user to remotely control the actuators 404.The wireless interface element 424 may be a dedicated device, such as adevice similar to a key-fob commonly used with cars and other vehicles,or a computing device such as smart phone, tablet computer, or wearablecomputing device programmed or configured for use with the controlsystem 418. The wireless interface element 424 may be configured tocommunicate with the hydraulic controller 410 and/or the computerizedcontroller 420 via short-range wireless communications, such as Wi-Fi orBluetooth, or via a communications network such as a cellular network.

The controller 420 may include one or more integrated circuitsprogrammed or configured to control the hydraulic controller 410 toactuate the support assemblies 114. By way of example, the controller420 may include one or more general purpose microprocessors ormicrocontrollers, programmable logic devices, or application specificintegrated circuits. The controller 420 may also include one or morediscrete and/or analog circuit components operating in conjunction withthe one or more integrated circuits, and may include or have access toone or more memory or storage elements operable to store executableinstructions, data, or both. The control module 422 may be a hardware orsoftware module specifically dedicated to enabling the controller 420 tocontrol the hydraulic controller 410 as described herein.

Another control system 426, illustrated in FIG. 4C, is similar to thecontrol system 418, but includes additional hydraulic circuitcomponents, such as hydraulic accumulators 428. In some embodiments,each of the support assemblies 114 may include a single hydraulicactuator 404 that both raises and lowers the chassis 104 and providessuspension functions, as explained below. Such hydraulic systems mayrequire specialized hydraulic circuit components such as the hydraulicaccumulators 428.

One of the support assemblies 114 is illustrated in greater detail inFIG. 5 through FIG. 10 . It should be understood that the supportassembly 114 is one example, and many alternative constructions may beused instead. For example, U.S. Pat. 9,180,747, “System and Method ofAdjusting the Chassis Height of a Machine,” granted Nov. 10, 2015,discloses a number of different support assembly configurations that maybe used.

The support assembly 114 depicted in FIG. 5 through FIG. 10 broadlyincludes a chassis attachment component 502 for attaching to the chassis104 of the vehicle 102; a wheel attachment component 504 for attachingto a wheel 108 or other ground-engaging element; a suspension component506 operably interposed between the chassis attachment component 502 andthe wheel attachment component 504 for regulating motion transferbetween the chassis attachment component 502 and the wheel attachmentcomponent 504; a plurality of strut bars 508 connecting the wheelattachment component 504 to the suspension component 506; and aheight-adjustment mechanism 510 comprising a plurality ofheight-adjustment actuators 512 for shifting the wheel attachmentcomponent 504 between a plurality of operating positions relative to thechassis attachment components 502. The chassis attachment component 502may include a pivot element 514 for allowing the support assembly 114 topivot relative to the chassis 104, and a pivot actuator may drive thepivoting motion to steer a wheel 108 or other ground engaging elementconnected to the wheel attachment component 504. In the illustratedembodiment, the pivot element 514 is or includes a rotary actuator.

The wheel attachment component 504 has a generally cylindrical body 516and a pair of upwardly-opening receptacles 518 for receiving andconnecting to the strut bars 508. The receptacles 518 are positioned onopposite sides of and above the generally cylindrical body 516. Pivottorque is transferred to the wheel attachment component 504 by the strutbars 508 via the receptacles 518. The wheel attachment component 504includes a plurality of apertures or other features spaced angularlyaround the generally cylindrical body 516 for connecting to a hub of awheel, a hydraulic motor and/or a gear reduction hub, a caliper discbrake assembly, a parking brake assembly, and/or similar components.

The suspension component 506 includes a lower suspension member 520, anupper suspension member 522, and a pneumatic spring 524 or similarmotion-regulating element positioned between and attached to the uppersuspension member 522 and the lower suspension member 520. The uppersuspension member 522 is connected to a top side or portion of thespring 524 and the lower suspension member 520 is connected to a lowerside or portion of the spring 524. Each upper suspension member 522 andlower suspension member 520 has an elongated shape and includes aplurality of apertures or other features for attaching to the spring524. The lower suspension member 520 includes apertures or otherfeatures located proximate end portions thereof to facilitate connectionto the strut bars 508, and the upper suspension member 522 includesapertures or other features located proximate outer portions thereof tofacilitate connection to the height-adjustment mechanism 510. In theillustrated embodiment, the upper suspension member 522 is longer thanthe lower suspension member 520, enabling attachment to theheight-adjustment actuators 512 positioned outboard of the lowersuspension member 520.

The pneumatic spring 524 uses trapped or compressed air or other fluidto regulate motion transfer between the chassis attachment component 502and the wheel attachment component 504. The pneumatic spring 524 maycontain air, water, nitrogen, antifreeze, or other fluid and may besingle, double, or triple convolute. A pair of flexible straps 526 maybe positioned on opposite sides of the spring 524 to limit extension ofthe spring 524, and a bumper may be positioned inside or outside thespring to limit spring compression. Other mechanisms may be used inplace of the pneumatic spring 524, including, for example, a coil-typecompression spring, or a shock-absorbing cylinder and piston assembly.

The suspension components 506 of the support assemblies 114 may be theonly components of the vehicle 102 configured to regulate verticalmotion transfer between the wheels 108 (or other ground engagingelement) and the chassis 104. The outer axles 304, for example, may berigidly connected to portions of the frame of the vehicle 102.Furthermore, the suspension components 506 regulate motion transferbetween the wheels 108 and the chassis 104 regardless of the operatingposition of the support assemblies 114. Thus, the suspension components506 perform essentially the same function regardless of whether thechassis 104 is in a lowered position, a raised position, or somewhere inbetween.

The strut bars 508 are rigidly connected to the receptacles 518 of thewheel attachment component 504 and are rigidly coupled with thesuspension component 506 such that movement of the wheel attachmentcomponent 504 relative to the chassis attachment component 502 iscommunicated through the suspension component 506 via the strut bars508. More specifically, a first end of a first strut bar 508 isconnected to a first receptacle 518 of the wheel attachment component504, and a first end of a second strut bar 508 is connected to a secondreceptacle 518 of the wheel attachment component 504. A second end ofthe first strut bar 508 is connected to a first side of the lowersuspension member 520, and a second end of the second strut bar 508 isconnected to a second side of the lower suspension member 520. Asexplained above, the lower suspension member 520 is an elongate, rigidmember with outer apertures on opposing ends thereof for connecting tothe strut bars 508, and one or more inner apertures between the outerapertures for rigidly attaching to a first side or portion of the spring524. Thus, the lower suspension member 520 interconnects the spring 524and the strut bars 508.

The first and second strut bars 508 are parallel or substantiallyparallel to one another and are separated by a space. The strut bars 508slidingly engage the chassis attachment component 502 to allow the wheelattachment component 504 to move relative to the chassis attachmentcomponent 502 while also transferring pivot torque between the wheelattachment component 504 and the chassis attachment component 502. Thestrut bars 508 may be separated by a space of between about 3 inches(7.6 cm) and 20 inches (51 cm) and, more specifically, may be separatedby a space of between about 8 inches (20 cm) and about 15 inches (38cm). The length of each of the strut bars 508 may be between about 12inches (30 cm) and about 36 inches (91 cm) and, more specifically,between about 20 inches (51 cm) and about 30 inches (76 cm). The strutbars 508 may be positioned symmetrically about a center of the wheelattachment component 504 and a center of the chassis attachmentcomponent 502.

The chassis attachment component 502 has a lower chassis attachmentmember 528 and an upper chassis attachment member 530 separated by aspace. The pivot element 514 is interposed between, and rigidlyconnected to, the lower chassis attachment member 528 and the upperchassis attachment member 530. Each of the attachment members 528, 530includes a pair of spaced through-holes in axial alignment for slidinglyreceiving the strut bars 508. Each of the attachment members 528, 530also includes a pair of apertures or other features positioned outboardof the through-holes for engaging the height-adjustment actuators 512.

The chassis attachment component 502 is rigidly but adjustably coupledwith the upper suspension member 522 via the height-adjustment actuators512 such that actuating the adjustment height-adjustment mechanism 510causes the upper suspension member 522 to shift relative to the chassisattachment component 502, shifting the wheel attachment component 504relative to the axle 116. The lower suspension member 520 is rigidlyconnected to the wheel attachment component 504 via the strut bars 508,as explained above, such that motion transfer between the chassisattachment component 502 and the wheel attachment component 504 passesthrough, and is regulated by, the suspension component 506. Such motiontransfer may correspond to up-and-down movement of the wheels 108relative to the chassis 104 such that the suspension component 506 mayprovide a spring or shock-absorbing function and may, for example,dampen motion transfer between the wheels 108 and the chassis 104.

The height-adjustment mechanism 510, comprising the height-adjustmentactuators 512, is configured to shift the wheel attachment component 504between a plurality of operating positions relative to the chassisattachment component 502. As used herein, an “operating position” is aselectable position of the wheel attachment component 504 relative tothe chassis attachment component 502 in which the distance between thewheel attachment component 504 and the chassis attachment component 502is rigidly or flexibly fixed. If the distance between the attachmentcomponents 502, 504 is flexibly fixed, the relative positions of theattachment components 502, 504 may fluctuate but will return to the sameoperating position. Stated differently, the average distance between theattachment components 502, 504 will remain approximately the same eventhough the instantaneous distance may fluctuate above and/or below theaverage distance. Fluctuations in the relative positions of theattachment components 502, 504 may result, for example, from operationof the suspension component 506, operation of a hydraulic component, orboth.

In operation, shifting the wheel attachment component 504 betweenoperating positions relative to the chassis attachment component 502will raise and lower the chassis 104 between various operating positionsrelative to the ground surface. Each support assembly 114 is operable toshift between two or more operating positions, such as between two,three, four, five, six, seven, eight, nine, ten, twelve, fourteen, orsixteen operating positions. Additionally, each support assembly 114 maybe infinitely adjustable between a first extreme operating position(FIG. 9 ) and a second extreme operating position (FIG. 10 ). Thedifference between the first extreme operating position and the secondextreme operating position may be within the range of about 5 inches (13cm) to about 50 inches (130 cm). More specifically, the difference maybe about 10 inches (25 cm), about 20 inches (51 cm), about 30 inches (76cm), or about 40 inches (102 cm).

As illustrated, the height-adjustment actuators 512 are connected to thelower and upper chassis attachment members, 528, 530, and to the uppersuspension member 522, such that extending or retracting theheight-adjustment actuators 512 causes the upper suspension member 522(and a top end or portion of the spring 524 to which it is connected) toshift up or down relative to the chassis attachment component 502. Theheight-adjustment actuators 512 may include fluid actuators and/orelectro-mechanical actuators. By way of example, the height-adjustmentactuators 512 may include hydraulic cylinders that drive piston rodsbetween retracted and extended positions.

As used herein, the suspension component 506 is “operably interposed”between the wheel attachment component 504 and the chassis attachmentcomponent 502 if it regulates motion transfer between the two components502, 504. Thus, the suspension component 506 need not be positionedphysically between the attachment components 502, 504 in order to beoperably interposed therebetween. As illustrated, the suspensioncomponent 506 may be positioned above (and in line with) both the wheelattachment component 504 and the chassis attachment component 502 andyet be operably interposed therebetween.

The support assembly 114 is configured to pivot relative to the axle 116to pivot a wheel 108 coupled with the wheel attachment component 504 andsteer the vehicle 102. The support assembly 114 may pivot between afirst extreme position (FIG. 7 ) and a second extreme position (FIG. 8 )about an axis of rotation passing through, and defined by, the pivotelement 514. The extreme pivot positions may correspond to an angularseparation of between, for example, about 90° and about 300°. Thesupport assembly 114 pivots as a single unit such that the wheelattachment component 504, the chassis attachment component 502, and thesuspension component 506 pivot in unison, regardless of the position ofthe wheel attachment component 504 relative to the chassis attachmentcomponent 502.

In the illustrated embodiment, the pivot element 514 attaches to anouter end of the axle 116, the suspension component 506 is positionedabove the axle 116, and the wheel attachment component 504 is positionedbelow the axle 116 opposite the suspension component 506. Furthermore,the wheel attachment component 504, the chassis attachment component502, and the suspension component 506 lie on a line that corresponds to,or is parallel with, the axis of rotation of the support assembly 114.

The pivot element 514 may include a rotatory hydraulic actuatorconnected to the axle 116 and to the lower chassis attachment member 528and the upper chassis attachment member 530. The rotary hydraulicactuator selectively drives pivoting movement of the support assembly114 relative to the chassis 104, and may be controlled by a vehicleoperator or an automated guidance system to steer the vehicle 102.

By way of example, the pivot element 514 may be a Helac L30 serieshelical hydraulic rotary actuator, available from Parker Hannifin,Cylinder Division, of Des Plaines, Illinois, or a similar device. Arotary hydraulic actuator is a device manufactured to drive or inducerotational movement in response to hydraulic input. Thus, a portion ofthe rotary actuator rotates relative to another portion of the rotaryactuator and does not require external connections or components togenerate rotational motion. A rotary actuator may be designed, forexample, to internally translate linear motion into rotational motion.In one exemplary embodiment, the rotary hydraulic actuator may generateoutput torque of between 3,000 foot-pounds (4,070 N-m) and 32,000foot-pounds (43,400 N-m) at a hydraulic pressure of between 2,000 psi(138 bar) and 4,000 psi (276 bar) or, more specifically, may generatetorque of between 10,000 foot-pounds (13,600 N-m) and 25,000 foot-pounds(33,900 N-m) at a hydraulic pressure of between 2,000 psi (138 bar) and4,000 psi (276 bar). The rotary actuator may have a total angulardisplacement of between about 90° and about 360°.

The illustrated pivot element 514 includes a plurality of spacedmounting feet or flanges 532 for securing to the axle 116 or other partof the chassis 104 and a cylindrical housing with opposing ends thatmount to, and rotate, the lower chassis attachment member 528 and theupper chassis attachment member 530. In the illustrated embodiment, theflanges 532 are configured to attach to a plurality of attachment pointsarranged in a planar configuration, such as on a single planar surface.Thus, the pivot element 514 may function both to mount the chassisattachment component 502 to the axle 116 and to rotate the supportassembly 114 relative to the axle 116 and, therefore, may simplify thedesign, manufacture, maintenance, and repair of the support assembly 114and related components. The housing of the pivot element 514 may have adiameter of between about 5 inches (13 cm) and 12 inches (30 cm) and alength of between about 11 inches (28 cm) and about 40 inches (102 cm).The pivot element 514 and the connections between the pivot element 514and the support assembly 114 and the axle 116 may be selected to besufficiently strong to sustain the shock and rigors of routine use.

Rather than including a rotary actuator, the support assembly 114 mayinclude, or may be coupled with, another type of actuator such as alinear hydraulic actuator for driving pivoting motion. Alternatively,the support assembly 114 may be configured to rigidly attach to thevehicle chassis 104 and not pivot relative to the chassis 104, whereinthe chassis attachment component 502 is rigidly attached to the inneraxle 306 or other portion of the chassis 104. This may be desirable, forexample, when the support assembly 114 supports a ground engagingelement that is not intended to steer the vehicle 102. The chassisattachment component 502 may be rigidly attached to the axle 116 byreplacing the pivot element 514 with a casting of the same size andshape as the pivot element 514 to rigidly connect to the chassisattachment component 502 and to the axle 116. The support assembly 114may be configured to facilitate interchanging a rotary actuatorconfigured to pivot the assembly and a static component configured tosecure the assembly in a fixed position. Bolts or other easily removableattachment elements may be used to secure the pivot element 514 to theaxle 116 and to the support assembly 114 and may be positioned tofacilitate access thereto. Thus, a pivot element 514 and a fixed elementmay both be provided with each of the support assemblies 114 such that auser may interchange the pivot element 514 and the fixed element asdesired.

In operation, the support assemblies 114 may raise and lower the chassis104 of the vehicle 102. More specifically, an operator may remotelycontrol operation of the support assemblies 114 to raise and lower thechassis 104 using, for example, one of the user interface elementsforming part of the control environment 202 illustrated in FIG. 2 .Thus, the operator may raise and lower the chassis 104 while seated inthe operator cabin 110.

In one exemplary scenario, the operator fills the liquid holding tank120 at a central location, such as a local cooperative facility, anddrives the vehicle 102 to a field in a lowered operating position. Onceat the field, the operator controls the support assemblies 114 to raisethe chassis 104 to a desired height to apply the product. The operatorraises the chassis 104 while seated in the operator cabin 110. When theapplication is complete or before the vehicle 102 returns to thecooperative for additional product, the operator lowers the chassis 104and drives the vehicle 102 to the cooperative or to another field.Adjusting the height of the chassis 104 allows for safer travel to andfrom the field by lowering the applicator’s center of gravity andoverall height.

In another exemplary scenario, the vehicle 102 and a tender vehicle aretaken to an area of application, such as a field or group of fields. Thevehicle 102 is placed in a lowered chassis position and prepared byfilling it with liquid chemical or other product to be applied to acrop. The tender vehicle may be configured to interface with the vehicle102 only when the vehicle 102 is in a lowered chassis position. When thevehicle 102 is prepared, the operator may drive the vehicle 102 to astarting position, raise the chassis 104 to a desired height using oneor more user interface elements within the operator cabin 110, and beginthe application process. The operator refills the vehicle 102 byreturning to the tender vehicle, lowering the applicator chassis 104 tointerface with the tender vehicle, then raising the chassis 104 afterthe vehicle 102 has been refilled, to resume the application operation.When application for a first crop is complete, the vehicle 102 may beused to apply a chemical to a second crop of a different height than thefirst crop. The operator may adjust the chassis height of the vehicle102 for application on the second crop, wherein a selected height forapplication on the second crop may be different than a selected heightfor application on the first crop.

In another exemplary scenario, the vehicle 102 may be used to apply aliquid to an agricultural field using the application system 106 shownin FIG. 1 that includes a liquid holding tank 120, a delivery system122, and a laterally extending applicator boom 124 carrying nozzles.Afterward, the application system 106 may be removed from the chassis104, and another application system may be installed, which may beadapted for applying particulate solid material.

For example, and as shown in FIG. 11 , the vehicle 102 may be driveninto or under a fixed support 1102, depicted as a structural frame. Thefixed support 1102 may be within or a part of a building, such as ashop, garage, or barn. In other embodiments, the fixed support 1102 maybe outdoors. In some embodiments, the fixed support 1102 may be afreestanding frame. The fixed support 1102 need not have a crane orother lift mechanism. While the application system 106 of the vehicle102 is within or under the fixed support 1102, the operator may placethe chassis 104 in a raised position. The raised position need not bethe highest position, so long as the chassis 104 is high enough that theapplication system 106 can be supported by hanging supports 1104 orother support elements connected to the fixed support 1102. The hangingsupport 1104 may be, for example, chains, straps, bars, or othersupports. The hanging support 1104 is connected to the applicationsystem 106, and the application system 106 is disconnected from thechassis 104. The chassis 104 is then lowered, leaving the applicationsystem 106 supported above it by the hanging support 1104. The vehicle102 can then be driven out from under the fixed support 1102.

As shown in FIG. 12 , the vehicle 102 with its chassis 104 may be driveninto or under another fixed support 1202, similar to the fixed support1102 shown in FIG. 11 , and also depicted as a structural frame. Thefixed support 1202 may have hanging supports 1204 supporting anotherapplication system 1206, depicted as including a solid product hopper1208 and a solid material spreader 1210. The operator may translate thechassis 104 forward or backward by rotating the wheels 108, in knownmanner, to bring the chassis 104 generally under the application system1206. To align the chassis 104 with the application system 1206 suchthat the application system 1206 can be secured to the chassis 104, theoperator may laterally translate the chassis 104 along the axles 116.For instance, the inner axles 306 on one side of the vehicle 102 mayextend from the outer axles 304, while the inner axles 306 on theopposite side of the vehicle 102 retract into the outer axles 304 atapproximately the same rate. Thus, the chassis 104 may move laterallyalong the axle 116 without moving the wheels 108 or changing the trackwidth. This enables the operator to laterally align the chassis 104 to apreselected position (i.e., under the application system 1206) andfacilitate connection of the application system 1206 to the chassis 104.Such alignment may be performed while the operator is in the operatorcabin 110, or while the operator is outside the vehicle 102. Ifperformed outside the vehicle 102, the operator may visually observe thealignment of the chassis 104 with the application system 1206.Furthermore, because the chassis 104 can move laterally along the axles116, the operator need not perfectly center the chassis 104 under theapplication system 1206 by steering the wheels 108 while moving thevehicle 102 forward or backward. The operator may instead simply “nudge”the chassis 104 left or right as needed to center the chassis 104 underthe application system 1206. If the application system 1206 has framerails or other structural elements to align with corresponding supportson the chassis 104, the operator can use those frame rails as a visualreference to indicate when the chassis 104 is properly aligned.

Once the chassis 104 is aligned laterally and in a forward/reversedirection, the height-adjustment mechanisms 510 may be extended to liftthe chassis 104 upward to a position in which the chassis 104 cansupport the application system 1206. The application system 1206 canthen be connected to the chassis 104, and the hanging supports 1204 aredisconnected from the application system 1206. The vehicle 102 can thenbe driven out from under the fixed support 1202 and operated as normal(e.g., by filling the solid product hopper 1208 and distributingmaterial from the solid material spreader 1210).

When the time comes to switch the vehicle 102 back to using theapplication system 106 for liquids, the process is reversed by drivingthe vehicle 102 under the fixed support 1202, supporting the applicationsystem 1206 therewith, then driving the vehicle 102 under theapplication system 106 supported by the fixed support 1102. The chassis104 may be moved laterally while the support assemblies 114 remainstationary. The position of the chassis 104 may be fine-tuned laterallyto align the chassis 104 with the application system 106, such thatlateral movement of the application system 106 along the fixed support1102 may not be required. Once in place, the chassis 104 is raised byextending the height-adjustment mechanisms 510 until the chassis 104supports the application system 106.

In some embodiments, the vehicle 102 may have a fixed-height chassis 104(i.e., the support assemblies 114 may lack height-adjustmentcapability). In such embodiments, a lifting mechanism external to thevehicle 102 may be used to lift the application systems 106, 1206, suchas a hoist, a forklift, etc. The chassis 104 may still be alignedlaterally by extending the axles 116 on one side of the chassis 104 andretracting the axles 116 on the opposite side of the chassis 104. Suchfine adjustment of the lateral position of the chassis 104 may improveoperator safety and limit the need to reposition the lifting mechanism.

In some embodiments, the controller 420 may be used to automaticallymove the chassis 104 into a preselected position after receiving acommand from a user via a user interface. For example, the controller420 may move the chassis 104 to align certain visible or otherwisedetectable elements of the application systems 106, 1206 and the chassis104.

Thus, the systems and methods described and shown may enable the use ofmultiple application systems 106, 1206 on a single chassis 104. Such asystem may have lower total cost than the cost of separate vehicles forliquid and solid application systems. Furthermore, the disclosed systemsand methods may be used to change the application systems 106, 1206without the use of a crane, hoist, forklift, or other lifting device tomaneuver and align the application system 106, 1206. Such liftingdevices may be cumbersome, time-consuming, and require another operator.The fixed supports 1102, 1202 may be relatively inexpensive if they donot include lifting and alignment mechanisms.

FIG. 13 is a simplified flow chart illustrating a method 1300 ofservicing a vehicle, such as the vehicle 102 shown in FIG. 1 . Thevehicle has a chassis, ground-engaging elements configured to supportthe chassis above a ground surface, and height-adjustable supportassemblies supporting the chassis on the ground-engaging elements. Theservice includes changing from one application system (e.g., a liquidapplication system 106) to another (e.g., a solid application system1206).

In block 1302, a first application system is supported with a firstfixed support. Block 1304 represents retracting the support assembliesto lower the chassis (e.g., by retracting height-adjustment actuators).

In block 1306, the chassis is moved from a position under the firstapplication system to another position under a second application systemsupported by a second fixed support. In some embodiments, the chassis ismoved laterally relative to the support assemblies without changing atrack width of the ground-engaging elements to align the chassis withthe second application system. In one embodiment, a command to move thechassis to align with the second application system is received by acontroller operable to control the support assemblies and axles of thevehicle. For example, the command may be transmitted by an operator inan operator cabin, on a control panel external to the vehicle (e.g., onan exterior of the chassis), or on a remote device (e.g., a mobile phonevia wireless link). In some embodiments, the control panel may be a partof a service tool that is connected (e.g., via wired or wirelesscommunication) to the vehicle only when lateral chassis movement isneeded.

In block 1308, the support assemblies are extended to raise the chassisinto contact with second application systems (e.g., by extendingheight-adjustment actuators). Block 1310 represents securing the secondapplication system to the chassis. In block 1312, the second applicationsystem is released from the second fixed support. The machine is thenready to operate using the second application system.

Though depicted as a flow chart, the actions in FIG. 13 may be performedconcurrently, and in some embodiments, some actions may be omitted.

Still other embodiments involve a computer-readable storage medium(e.g., a non-transitory computer-readable storage medium) havingprocessor-executable instructions configured to implement one or more ofthe techniques presented herein. An example computer-readable mediumthat may be devised is illustrated in FIG. 14 , wherein animplementation 1400 includes a computer-readable storage medium 1402(e.g., a flash drive, CD-R, DVD-R, application-specific integratedcircuit (ASIC), field-programmable gate array (FPGA), a platter of ahard disk drive, etc.), on which is computer-readable data 1404. Thiscomputer-readable data 1404 in turn includes a set ofprocessor-executable instructions 1406 configured to operate accordingto one or more of the principles set forth herein. In some embodiments,the processor-executable instructions 1406 may be configured to cause acomputer associated with the vehicle 102 (FIG. 1 ) to perform operations1408 when executed via a processing unit, such as at least some of theexample method 1300 depicted in FIG. 13 . In other embodiments, theprocessor-executable instructions 1406 may be configured to implement asystem, such as at least some of the example vehicle 102 depicted inFIG. 1 . That is, the control environment 202 may include or beconnected to the implementation 1400 of FIG. 14 . Many suchcomputer-readable storage media may be devised by those of ordinaryskill in the art that are configured to operate in accordance with oneor more of the techniques described herein.

Additional non-limiting example embodiments of the disclosure aredescribed below.

Embodiment 1: A method of servicing a vehicle comprising a chassis, aplurality of ground-engaging elements configured to support the chassisabove a ground surface, and a plurality of support assemblies supportingthe chassis on the ground-engaging elements. The method compriseslaterally translating the chassis relative to the support assemblieswithout changing a track width of the ground-engaging elements.

Embodiment 2: The method of Embodiment 1, further comprising adjustingheight-adjustment actuators associated with the support assemblies toraise or lower the chassis.

Embodiment 3: The method of Embodiment 2, wherein adjusting theheight-adjustment actuators comprises extending each of theheight-adjustment actuators to raise the chassis relative to the groundsurface, and lifting an application system with the chassis.

Embodiment 4: The method of Embodiment 1, further comprising lifting anapplication system from the chassis.

Embodiment 5: The method of any one of Embodiment 1 through Embodiment4, wherein translating the chassis laterally relative to the supportassemblies comprises aligning the chassis with an application system tobe installed on the vehicle.

Embodiment 6: The method of Embodiment 5, wherein aligning the chassiswith the application system to be installed on the vehicle comprisesaligning frame rails of the application system with correspondingsupports on the chassis.

Embodiment 7: The method of any one of Embodiment 1 through Embodiment6, wherein laterally translating the chassis relative to the supportassemblies comprises extending axles on a first side of the chassiswhile retracting axles on a second, opposite side of the chassis.

Embodiment 8: The method of any one of Embodiment 1 through Embodiment7, wherein laterally translating the chassis relative to the supportassemblies comprises transmitting a command from a control panel to acontroller.

Embodiment 9: The method of Embodiment 8, wherein the control panel islocated at location selected from the group consisting of inside anoperator cab, on an exterior of the chassis, and in a mobile device.

Embodiment 10: A method of servicing a vehicle comprising a chassis, aplurality of ground-engaging elements configured to support the chassisabove a ground surface, and a plurality of height-adjustable supportassemblies supporting the chassis on the ground-engaging elements. Themethod comprises supporting a first application system with a firstfixed support, retracting the support assemblies to lower the chassis,moving the chassis from a first position under the first applicationsystem to a second position under a second application system supportedby a second fixed support, extending the support assemblies to raise thechassis into contact with the second application system, securing thesecond application system to the chassis, and releasing the secondapplication system from the second fixed support.

Embodiment 11: The method of Embodiment 10, wherein moving the chassisfrom the first position to the second position comprises driving theground-engaging elements to move the chassis from the first position tothe second position, and moving the chassis laterally relative to thesupport assemblies without changing a track width of the ground-engagingelements to align the chassis with the second application system.

Embodiment 12: The method of Embodiment 10 or Embodiment 11, whereinmoving the chassis from the first position to the second positioncomprises receiving a command to move the chassis to align with thesecond application system.

Embodiment 13: The method of any one of Embodiment 10 through Embodiment12, wherein each of the first application system and the secondapplication system is configured to apply a liquid or a solid to anagricultural field.

Embodiment 14: The method of any one of Embodiment 10 through Embodiment13, wherein moving the chassis from the first position to the secondposition comprises receiving a command to move the chassis to apreselected position under the second application system.

Embodiment 15: The method of any one of Embodiment 10 through Embodiment14, wherein extending the support assemblies to raise the chassis intocontact with the second application system comprises adjusting thesupport assemblies to move the chassis to a preselected position.

Embodiment 16: The method of any one of Embodiment 10 through Embodiment15, further comprising raising the chassis before supporting the firstapplication system with the first fixed support.

Embodiment 17: A vehicle comprising a chassis, a plurality ofground-engaging elements configured to support the chassis above aground surface, a plurality of support assemblies supporting the chassison the ground-engaging elements, a plurality of adjustable axlesconfigured to change a lateral distance from the chassis to each of thesupport assemblies, and a controller configured to move the chassislaterally along the axles without changing a track width betweenground-engaging elements on opposing sides of the chassis.

Embodiment 18: The vehicle of Embodiment 17, further comprising anapplication system carried by the chassis. The application systemcomprises a liquid holding tank and a plurality of nozzles spaced alonga laterally extending applicator boom. The nozzles are configured todeliver liquid from the liquid holding tank to the ground surface.

Embodiment 19: The vehicle of Embodiment 17, further comprising anapplication system carried by the chassis. The application systemcomprises a solid product hopper, and at least one solid materialspreader configured to deliver solid from the solid product hopper tothe ground surface.

Embodiment 20: The vehicle of any one of Embodiment 17 throughEmbodiment 19, wherein the controller is configured to automaticallymove the chassis laterally along the axles after receiving a commandfrom a user; and further comprising a user interface for allowing theuser to send the command to the controller.

Embodiment 21: The vehicle of Embodiment 20, wherein the controller isconfigured to move the chassis laterally while the support assembliesremain stationary.

Embodiment 22: The vehicle of any one of Embodiment 17 throughEmbodiment 21, further comprising a control panel in communication withthe controller, the control panel located at location selected from thegroup consisting of in an operator cab, on an exterior of the chassis,and in a mobile device.

Embodiment 23: The vehicle of any one of Embodiment 17 throughEmbodiment 22, wherein each support assembly comprises aheight-adjustment actuator.

Embodiment 24: The vehicle of Embodiment 23, wherein theheight-adjustment actuators each comprise hydraulic cylinders connectedto a common fluid source via a respective control valve.

Embodiment 25: A non-transitory computer-readable storage medium. Thecomputer-readable storage medium including instructions that whenexecuted by a computer associated with a vehicle comprising a chassis, aplurality of ground-engaging elements configured to support the chassisabove a ground surface, and a plurality of support assemblies supportingthe chassis on the ground-engaging elements, cause the vehicle tolaterally translate the chassis relative to the support assemblieswithout changing a track width of the ground-engaging elements.

All references cited herein are incorporated herein in their entireties.If there is a conflict between definitions herein and in an incorporatedreference, the definition herein shall control.

While the present disclosure has been described herein with respect tocertain illustrated embodiments, those of ordinary skill in the art willrecognize and appreciate that it is not so limited. Rather, manyadditions, deletions, and modifications to the illustrated embodimentsmay be made without departing from the scope of the disclosure ashereinafter claimed, including legal equivalents thereof. In addition,features from one embodiment may be combined with features of anotherembodiment while still being encompassed within the scope ascontemplated by the inventors. Further, embodiments of the disclosurehave utility with different and various vehicle types andconfigurations.

What is claimed is:
 1. A method of servicing a vehicle comprising achassis, a plurality of ground-engaging elements configured to supportthe chassis above a ground surface, and a plurality of supportassemblies supporting the chassis on the ground-engaging elements, themethod comprising: laterally translating the chassis relative to thesupport assemblies without changing a track width of the ground-engagingelements.
 2. The method of claim 1, further comprising adjustingheight-adjustment actuators associated with the support assemblies toraise or lower the chassis.
 3. The method of claim 2, wherein adjustingthe height-adjustment actuators comprises: extending each of theheight-adjustment actuators to raise the chassis relative to the groundsurface; and lifting an application system with the chassis.
 4. Themethod of claim 1, further comprising lifting an application system fromthe chassis.
 5. The method of claim 1, wherein translating the chassislaterally relative to the support assemblies comprises aligning thechassis with an application system to be installed on the vehicle. 6.The method of claim 5, wherein aligning the chassis with the applicationsystem to be installed on the vehicle comprises aligning frame rails ofthe application system with corresponding supports on the chassis. 7.The method of claim 1, wherein laterally translating the chassisrelative to the support assemblies comprises extending axles on a firstside of the chassis while retracting axles on a second, opposite side ofthe chassis.
 8. The method of claim 1, wherein laterally translating thechassis relative to the support assemblies comprises transmitting acommand from a control panel to a controller.
 9. The method of claim 8,wherein the control panel is located at location selected from the groupconsisting of inside an operator cab, on an exterior of the chassis, andin a mobile device.
 10. A method of servicing a vehicle comprising achassis, a plurality of ground-engaging elements configured to supportthe chassis above a ground surface, and a plurality of height-adjustablesupport assemblies supporting the chassis on the ground-engagingelements, the method comprising: supporting a first application systemwith a first fixed support; retracting the support assemblies to lowerthe chassis; moving the chassis from a first position under the firstapplication system to a second position under a second applicationsystem supported by a second fixed support; extending the supportassemblies to raise the chassis into contact with the second applicationsystem; securing the second application system to the chassis; andreleasing the second application system from the second fixed support.11. The method of claim 10, wherein moving the chassis from the firstposition to the second position comprises: driving the ground-engagingelements to move the chassis from the first position to the secondposition; and moving the chassis laterally relative to the supportassemblies without changing a track width of the ground-engagingelements to align the chassis with the second application system. 12.The method of claim 10, wherein moving the chassis from the firstposition to the second position comprises receiving a command to movethe chassis to align with the second application system.
 13. The methodof claim 10, wherein each of the first application system and the secondapplication system is configured to apply a liquid or a solid to anagricultural field.
 14. The method of claim 10, wherein moving thechassis from the first position to the second position comprisesreceiving a command to move the chassis to a preselected position underthe second application system.
 15. The method of claim 10, whereinextending the support assemblies to raise the chassis into contact withthe second application system comprises adjusting the support assembliesto move the chassis to a preselected position.
 16. The method of claim10, further comprising raising the chassis before supporting the firstapplication system with the first fixed support.
 17. A vehiclecomprising: a chassis; a plurality of ground-engaging elementsconfigured to support the chassis above a ground surface; a plurality ofsupport assemblies supporting the chassis on the ground-engagingelements; a plurality of adjustable axles configured to change a lateraldistance from the chassis to each of the support assemblies; and acontroller configured to move the chassis laterally along the axleswithout changing a track width between ground-engaging elements onopposing sides of the chassis.
 18. The vehicle of claim 17, wherein thecontroller is configured to automatically move the chassis laterallyalong the axles after receiving a command from a user; and furthercomprising a user interface for allowing the user to send the command tothe controller.
 19. The vehicle of claim 18, wherein the controller isconfigured to move the chassis laterally while the support assembliesremain stationary.
 20. The vehicle of claim 17, further comprising acontrol panel in communication with the controller, the control panellocated at location selected from the group consisting of in an operatorcab, on an exterior of the chassis, and in a mobile device.